JP6920112B2 - Driving support device and driving support method - Google Patents

Description

The disclosed embodiments relate to driving assistance devices and driving assistance methods.

Conventionally, there has been known an automatic driving technique in which a vehicle is automatically driven without the driver being involved in each control of acceleration, steering, and braking of the vehicle. Further, while using such an automatic driving technology, there is also known an override technology for switching a vehicle from an automatic driving mode to a manual driving mode when an operation related to driving a vehicle is received from a driver during automatic driving (for example, Patent Documents). 1).

In addition, a technology has been proposed in which the driver's wakefulness is acquired when an override operation is received from the driver, and switching to the manual driving mode is invalidated if the driver is in a non-wakefulness state such as dozing. ..

Japanese Unexamined Patent Publication No. 2015-153048

However, the above-mentioned prior art has room for further improvement in preventing the vehicle from falling into a dangerous state when the driver changes from the non-wakeful state to the awake state during the override operation.

Specifically, when the driver changes from the non-wakeful state to the awake state during the override operation, it is unlikely that the override operation was consciously performed in the first place. For this reason, if the driver is easily switched to the manual driving mode even if he / she is in an awake state, the driver may be surprised and suddenly change the vehicle, which may put the vehicle in a dangerous state.

One aspect of the embodiment is made in view of the above, and can prevent the vehicle from falling into a dangerous state when the driver changes from the non-wakeful state to the awake state during the override operation. It is an object of the present invention to provide a possible driving support device and a driving support method.

The driving support device according to one aspect of the embodiment is a driving support that supports the driving of a vehicle provided so as to switch the automatic driving to manual driving when an operation related to driving is started by the driver during automatic driving. It is an apparatus and includes an acquisition unit and a determination unit. The acquisition unit acquires the state of the driver. The determination unit, when the operation is acquired when it is started in the driver's condition is non-awake state, the determination as to disable switching to the manual operation, while the invalid If the driver of the condition has remained the awake state, during the period until the operation by at least the driver is released, the continued invalid, after the operation has been canceled, the driver's condition When a new operation is started in the awake state, it is determined to allow switching from the automatic operation to the manual operation.

According to one aspect of the embodiment, it is possible to prevent the vehicle from falling into a dangerous state when the driver changes from the non-wakeful state to the awake state during the override operation.

FIG. 1A is a schematic explanatory view (No. 1) of the driving support method according to the comparative example. FIG. 1B is a schematic explanatory view (No. 2) of the driving support method according to the comparative example. FIG. 1C is a schematic explanatory view of the driving support method according to the embodiment. FIG. 2A is a block diagram of the in-vehicle system according to the embodiment. FIG. 2B is a block diagram of the switch unit. FIG. 2C is a block diagram of the sensor unit. FIG. 3A is a flowchart showing a processing procedure executed by the driving support device according to the embodiment. FIG. 3B is a flowchart showing a processing procedure executed by the driving support device according to the modified example.

Hereinafter, embodiments of the driving support device and the driving support method disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

Further, in the following, after explaining the outline of the driving support method according to the present embodiment with reference to FIGS. 1A to 1C, the driving support device 10 to which the driving support method according to the present embodiment is applied and the in-vehicle system 100 including the driving support device 10 Will be described with reference to FIGS. 2A to 3B.

Further, in the following, when the term "autonomous driving" is used, it means fully automatic driving in which the vehicle can be driven while controlling acceleration, steering, and braking without any involvement of the driver.

First, the outline of the driving support method according to the present embodiment will be described with reference to FIGS. 1A to 1C. 1A and 1B are schematic explanatory views (No. 1) and (No. 2) of the driving support method according to the comparative example. Further, FIG. 1C is a schematic explanatory view of the driving support method according to the present embodiment.

As shown in FIG. 1A, in the driving support method according to the comparative example, when the override operation by the driver D is started at the time T1 (step S1'), if the driver D is in the awake state, the vehicle C is manually operated. The operation mode is switched to (step S2'-1), and the driver D is manually operated. That is, during the override operation, the vehicle C is permitted to cancel the automatic driving and is in the override control.

Here, the override operation is an operation related to the operation of the vehicle C performed by the driver D, for example, an accelerator pedal operation, a brake pedal operation, a steering wheel operation, and the like by the driver D.

As long as the driver D is awake during the override operation, it is recognized that the override operation is consciously performed by the driver D. Therefore, even if the vehicle C is switched from the automatic driving mode to the manual driving mode, the vehicle C Is unlikely to fall into a dangerous state due to sudden fluctuations. Although not shown, the vehicle C returns to the automatic driving mode when the override operation is canceled by the driver D.

Further, as shown in FIG. 1B, in the driving support method according to the comparative example, the override operation by the driver D is started at time T1 (step S1'), but when the driver D is in the unawakened state, the driver D is manually operated. The switching to the operation is invalidated (step S2'-2), and the automatic operation is continued without switching to the manual operation mode. That is, here, even during the override operation, the vehicle C is prohibited from canceling the automatic driving, and the automatic driving control is continued without shifting to the override control.

As long as the driver D is in the unawakened state during the override operation, if the vehicle C is switched from the automatic driving mode to the manual driving mode, it is inevitable that the vehicle C will be put into a dangerous state. Therefore, in this case, the vehicle C is prevented from falling into a dangerous state by continuing the automatic driving.

Here, as shown in FIG. 1C, when the override operation by the driver D is started at the time T1 (step S1), the driver D is in a non-wakeful state, but is operated at the time T2 during the override operation. Person D is assumed to have changed from the unawakened state to the awakened state.

In such a case, since the driver D is in the awake state during the override operation, it is highly possible that the override operation from the time T1 is, of course, an erroneous operation unconsciously performed by the driver D. Therefore, if the vehicle C is switched from the automatic driving mode to the manual driving mode, the vehicle C may be put into a dangerous state due to sudden fluctuations or the like.

However, since the driver D is in the awake state at time T2, if the awakening degree is increased, there is a possibility that the vehicle C can safely drive even if the driver D manually drives the vehicle C.

Therefore, in the driving support method according to the present embodiment, as shown in FIG. 1C, during the time T1 to T2 in which the driver D is in the unawakened state after the override operation is first started, the comparative example of FIG. 1B is used. Similarly, it was decided to invalidate the switch to manual operation (step S2). Further, even after the driver D is in the awake state, the invalidation of the step S2 is continued for the "predetermined period", that is, during the times T2 to T3 (step S3).

Then, in the driving support method according to the present embodiment, after the predetermined period of the time T2 to T3 has passed, the vehicle C is switched to the manual driving mode (step S4), and the driver D manually drives the vehicle C. bottom. That is, the "predetermined period" in this case is a predetermined time until the awakening degree of the driver D who has just awakened and is in a semi-awakening state increases.

When the predetermined time has elapsed, in the driving support method according to the present embodiment, the driver D considers that the arousal level has increased to the extent that manual driving is possible, and switches to the manual driving mode. As a result, it is possible to prevent the vehicle C from being put into a dangerous state by manually driving the driver D in the semi-wakeful state.

Further, as a modification, the "predetermined period" for continuing the above-mentioned invalidation may be, for example, a period from when the driver D becomes awake to at least when the override operation is canceled by the driver D. ..

That is, in this case, since the override operation, which was an erroneous operation, is canceled, the vehicle C does not shift to the override control and automatically remains in the automatic driving mode, so that the vehicle C does not suddenly fluctuate. .. Further, if the vehicle C is switched from the automatic driving mode to the manual driving mode based on a conscious new override operation by the awake driver D after the cancellation of the override operation, the vehicle C may suddenly change or the like. It is unlikely that you will fall into a dangerous situation.

This makes it possible to prevent the vehicle C from falling into a dangerous state even when the driver D changes from the non-wakeful state to the awake state during the override operation.

Hereinafter, the driving support device 10 to which the driving support method according to the present embodiment described above is applied and the in-vehicle system 100 provided with the driving support device 10 will be described more specifically.

FIG. 2A is a block diagram of the in-vehicle system 100 according to the present embodiment. Further, FIG. 2B is a block diagram of the switch unit 21. Further, FIG. 2C is a block diagram of the sensor unit 22. Note that, in FIGS. 2A to 2C, only the components necessary for explaining the features of the present embodiment are represented by functional blocks, and the description of general components is omitted.

In other words, each component shown in FIGS. 2A to 2C is a functional concept and does not necessarily have to be physically configured as shown in the figure. For example, the specific form of distribution / integration of each functional block is not limited to the one shown in the figure, and all or part of the functional blocks are functionally or physically distributed in arbitrary units according to various loads and usage conditions. -It is possible to integrate and configure.

As shown in FIG. 2A, the in-vehicle system 100 includes a driving support device 10. The driving support device 10 is communicably connected to each of the detection unit 2 and the vehicle control device 3 mounted on the vehicle C.

The detection unit 2 includes a switch unit 21 and a sensor unit 22. The switch unit 21 is a group of switches operated by the driver D, and includes, for example, an operation mode changeover switch 21a as shown in FIG. 2B. The operation mode changeover switch 21a is a switch for manually switching between the automatic operation mode and the manual operation mode.

Further, the sensor unit 22 is a group of detection devices such as an awake state of the driver D and an operation related to the driving of the vehicle C by the driver D, and as shown in FIG. 2C, the camera 22a, the electrocardiographic sensor 22b, and the blood pressure. It includes a sensor 22c, a brain wave sensor 22d, an accelerator sensor 22e, a steering angle sensor 22f, a brake sensor 22g, and the like. The electrocardiographic sensor 22b, the blood pressure sensor 22c, and the electroencephalogram sensor 22d are provided so as to be attached to the driver D while the driver D is in the vehicle C, for example.

Returning to FIG. 2A, the vehicle control device 3 controls the traveling of the vehicle C. Specifically, in the automatic driving mode, the vehicle control device 3 derives a control amount of the throttle 41, the steering 42, the brake 43, etc. of the actuator unit 4 of the vehicle C according to the road condition or the like, and obtains such a control amount. By operating the actuator unit 4 based on this, the vehicle C is automatically driven while controlling the acceleration, steering, and braking of the vehicle C.

Further, in the manual operation mode, the vehicle control device 3 has the throttle 41 and the steering 42 based on the operation amount of the driver D based on the detection results of the accelerator sensor 22e, the steering angle sensor 22f, the brake sensor 22g and the like of the sensor unit 22. , The control amount of the brake 43 and the like is derived, and the actuator unit 4 is operated based on the control amount to manually drive the vehicle C while controlling the acceleration, steering, and braking of the vehicle C.

Further, the vehicle control device 3 switches the vehicle C to the automatic driving mode or the manual driving mode based on the instruction from the switching instruction unit 11d described later.

Further, the driving support device 10 includes a control unit 11 and a storage unit 12. The control unit 11 includes a wakefulness acquisition unit 11a, an override operation acquisition unit 11b, a determination unit 11c, and a switching instruction unit 11d.

The storage unit 12 is a storage device such as a hard disk drive, a non-volatile memory, or a register, and stores determination information 12a. The determination information 12a is information including determination conditions and the like referred to by the determination unit 11c. Such information includes, for example, in the present embodiment, parameters indicating the above-mentioned predetermined period and the like.

The control unit 11 controls the entire driving support device 10. The wakefulness acquisition unit 11a acquires the wakefulness of the driver D based on the detection result of the detection unit 2. Specifically, the wakefulness acquisition unit 11a derives each parameter related to the wakefulness of the driver D based on the detection result of the detection unit 2.

For example, the wakefulness acquisition unit 11a analyzes the captured image of the camera 22a of the sensor unit 22, and based on the analysis result, the driver D's "face orientation" and the driver D's "eye opening degree (eye opening degree)". , "Blink frequency" is derived.

Further, for example, the wakefulness acquisition unit 11a analyzes the detection result of the electrocardiographic sensor 22b of the sensor unit 22, and derives the "heart rate" of the driver D based on the analysis result. Further, for example, the wakefulness acquisition unit 11a analyzes the detection result of the blood pressure sensor 22c of the sensor unit 22, and derives the “maximum blood pressure” and “minimum blood pressure” of the driver D based on the analysis result. Further, for example, the wakefulness acquisition unit 11a analyzes the detection result of the brain wave sensor 22d of the sensor unit 22, and derives the “sleeping brain wave” of the driver D based on the analysis result.

Then, the wakefulness acquisition unit 11a notifies the determination unit 11c of each parameter related to the derived wakefulness.

The override operation acquisition unit 11b acquires the override operation of the driver D during automatic driving based on the detection result of the detection unit 2. The override operation acquisition unit 11b notifies the determination unit 11c of the content of the acquired override operation.

The determination unit 11c derives the arousal level based on each parameter related to the awake state of the driver D derived by the awake state acquisition unit 11a, and for example, when the arousal level exceeds a predetermined threshold value, the driver D Determined to be awake. Further, the determination unit 11c determines that the driver D is in the non-awakening state, for example, if the arousal level does not exceed a predetermined threshold value.

Further, the determination unit 11c automatically operates based on the awake state of the driver D when the override operation is started during the automatic operation based on the determination result of the awake state and the content of the notification from the override operation acquisition unit 11b. Executes the process of separating permission / prohibition of cancellation. Details of such processing will be shown later in FIG. 3A or FIG. 3B.

The switching instruction unit 11d causes the vehicle control device 3 to switch the vehicle C from the automatic driving mode to the manual driving mode when the automatic driving cancellation is permitted based on the determination result by the determination unit 11c. That is, the switch to manual operation is enabled.

Further, the switching instruction unit 11d does not cause the vehicle control device 3 to switch the vehicle C from the automatic driving mode to the manual driving mode when the automatic driving cancellation is prohibited based on the determination result by the determination unit 11c. That is, the switch to manual operation is invalidated.

Further, when the switching instruction unit 11d receives the switching request from the operation mode switching switch 21a of the switch unit 21, the switching instruction unit 11d switches the automatic driving mode and the manual driving mode to the vehicle control device 3 based on the request.

Next, the processing procedure executed by the operation support device 10 according to the present embodiment will be described with reference to FIGS. 3A and 3B. FIG. 3A is a flowchart showing a processing procedure executed by the driving support device 10 according to the present embodiment. Further, FIG. 3B is a flowchart showing a processing procedure executed by the driving support device 10 according to the modified example. The processing procedure shown in FIGS. 3A and 3B is repeated at a predetermined cycle.

As shown in FIG. 3A, first, the wakefulness acquisition unit 11a acquires the wakefulness of the driver D (step S101). Then, the control unit 11 determines whether or not the automatic operation is in progress (step S102). Here, when it is determined that the automatic operation is in progress (step S102, Yes), the determination unit 11c determines whether or not the override operation is in progress based on the content of the notification from the override operation acquisition unit 11b (step). S103). If it is determined in step S102 that the automatic operation is not in progress (steps S102, No), the manual operation control is continued (step S111), and the process ends.

Then, when it is determined in step S103 that the override operation is in progress (step S103, Yes), the determination unit 11c puts the driver D in a non-awakening or semi-awakening state based on the acquisition result of the awakefulness acquisition unit 11a. It is determined whether or not there is (step S104).

Here, when it is determined that the vehicle is in a non-awakening or semi-awakening state (step S104, Yes), the determination unit 11c prohibits the automatic operation cancellation (step S105). If it is determined in step S103 that the override operation is not in progress (steps S103, No), the automatic operation control is continued (step S110), and the process ends.

On the other hand, when it is determined in step S104 that the driver D is not in the non-wakeful or semi-wakeful state (step S104, No), that is, when the driver D is in the awake state, the determination unit 11c determines that the driver D is not in the non-wakeful or semi-awakened state. It is determined whether or not it is within a predetermined time from the awake state to the awake state (step S106).

Here, when it is determined that the time is within the predetermined time (step S106, Yes), the driver D is notified that the override operation is in progress but the automatic operation cancellation is prohibited (step S107). Since it is considered that the driver D does not understand the current situation shortly after changing from the non-wakeful or semi-wakeful state to the awake state, in step S107, the current situation is presented to such a driver D. Notify and call attention. Note that step S107 does not have to be essential. Then, the determination unit 11c prohibits the automatic operation cancellation (step S105).

If it is determined in step S106 that the time is not within the predetermined time (steps S106, No), the determination unit 11c permits the automatic operation cancellation (step S108).

Subsequently, it is determined whether or not the automatic operation cancellation is prohibited (step S109). Here, when the automatic operation cancellation is prohibited (step S109, Yes), the switching instruction unit 11d invalidates the switching from the automatic operation to the manual operation, the automatic operation control is continued (step S110), and the process ends. do.

Further, when the automatic driving cancellation is not prohibited (steps S109, No), that is, when the automatic driving cancellation is permitted, the switching instruction unit 11d enables the switching from the automatic driving to the manual driving, and the vehicle C activates the switching. The automatic operation mode is switched to the manual operation mode, the manual operation control is executed (step S111), and the process ends. Although not shown, when the manual operation mode is switched by the override operation during the automatic operation mode, the automatic operation mode is switched again when the override operation is completed.

By the way, in FIG. 3A, the above-mentioned "predetermined period" is a predetermined time from the non-awakening or semi-awakening state to the awake state, that is, a predetermined time until the awakening degree of the driver D who has just awakened increases. Corresponding to the processing procedure in the case, as a modification, the above-mentioned "predetermined period" is, for example, a period from when the driver D is awake to when the override operation is canceled by the driver D. It may be executed.

FIG. 3B shows a processing procedure related to the modified example. It should be noted that steps S201 to S211 in FIG. 3B correspond to steps S101 to S111 in FIG. 3A, and what is different from FIG. 3A is the determination condition in step S206. Therefore, here, the steps S206 and subsequent steps will be mainly described.

That is, in the processing procedure according to the modified example, in step S206, the determination unit 11c determines whether or not the driver D is in a non-wakeful or semi-wakeful state during this override operation (step S206).

It should be noted that "during this override operation" referred to here means in step S203 in the processing procedure of this figure that is periodically repeated after it is determined that the override operation is being performed for the first time in step S203 (steps S203, Yes). It corresponds to the period from the start to the end of the current override operation until it is determined that the override operation is not in progress (steps S203, No).

Here, when it is determined that the driver D was in a non-awakening or semi-awakening state during this override operation (step S206, Yes), the driver D is in the non-awakening or semi-awakening state during the automatic driving mode. Since the override operation is being performed and it is considered that the driver is in the awake state in that state, the processes are executed in the order of step S207 and step S205.

Then, it is determined in step S209 that the automatic operation cancellation is prohibited (step S209, Yes), and the automatic operation control is continued (step S210). While the override operation performed in the non-wakeful or semi-wakeful state continues, the processing procedure is repeated in this way even if the driver D is in the awake state, and the mode is switched to the manual operation mode. There is no.

Then, if the driver D cancels the current override operation from such a state, it is determined that the override operation is not in progress in step S203 (steps S203, No), that is, it is determined that the current override operation has been completed, and the automatic driving control continues. (Step S210). After that, if the driver D performs the vehicle operation in the awake state, the automatic operation is performed in the order of step S203 (Yes), step S204 (No), step S206 (No), step S208, step S209 (No), and step S211. Release is permitted and switching to manual operation control. As described above, in such a modification, the above-mentioned "predetermined period" is the period from the determination of Yes in step S206 to the determination of No in step S203, that is, after the driver D is in the awake state. , The period until the override operation is canceled by the driver D.

If it is determined in step S206 that the driver D was not in a non-awakening or semi-awakening state during this override operation (steps S206, No), the determination unit 11c permits the automatic operation cancellation (step S208). ), It is determined in the following step S209 that the automatic driving cancellation is not prohibited (step S209, No), the vehicle C is switched from the automatic driving mode to the manual driving mode, and the manual driving control is executed (step S209, No). Step S211).

This makes it possible to prevent the vehicle C from falling into a dangerous state even when the driver D changes from the non-wakeful state to the awake state during the override operation.

As described above, the driving support device 10 according to the present embodiment manually operates the automatic driving when the driver D starts the override operation (corresponding to an example of the "operation related to driving") during the automatic driving. It is a driving support device 10 for supporting the driving of the vehicle C provided so as to switch to, and includes an awakening state acquisition unit 11a (corresponding to an example of the "acquisition unit") and a determination unit 11c.

The wakefulness acquisition unit 11a acquires the wakefulness of driver D (corresponding to an example of "driver's state"). The determination unit 11c determines that the switching to the manual operation is invalidated when the awake state of the driver D acquired when the override operation is started is "non-awakening", and the determination unit 11c is in the process of invalidation. When the awakening state of the driver D changes to "awakening", it is determined that the invalidation is continued for a predetermined period.

Therefore, according to the driving support device 10 according to the present embodiment, it is possible to prevent the vehicle C from falling into a dangerous state when the driver D changes from the non-wakeful state to the awake state during the override operation. ..

Further, the predetermined period is a predetermined time after the awakening state of the driver D changes from "non-awakening" to "awakening".

Therefore, according to the driving support device 10 according to the present embodiment, it is possible to wait for the arousal level of the driver D to increase to the extent that the driver D can be manually driven, which puts the vehicle C in a dangerous state. Can be prevented.

Further, the predetermined period is a period after the awakening state of the driver D changes from "non-awakening" to "awakening" and at least until the override operation is released.

Therefore, according to the driving support device 10 according to the present embodiment, the switching to the manual operation is continuously invalidated at least until the override operation having a high possibility of erroneous operation is canceled, so that the operation is based on the unconscious override operation. It is possible to prevent the driver D from being surprised and putting the vehicle C in a dangerous state by switching to the manual operation.

In the above-described embodiment, the case of passively waiting for the arousal level of the driver D to increase during the "predetermined period" has been described, but the driver D actively waits for the "predetermined period". You may work to increase your alertness. For example, the arousal level of the driver D may be increased by issuing a warning such as a continuous warning sound or a voice guidance message indicating an action to be taken during a “predetermined period”. Such processing is executed at the position of step S107 in FIG. 3A and step S207 in FIG. 3B.

As a result, it is possible to promote the arousal level of the driver D to increase during the "predetermined period" and prevent the vehicle C from falling into a dangerous state.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

10 Driving support device 11 Control unit 11a Wakefulness acquisition unit 11b Override operation acquisition unit 11c Judgment unit 11d Switching instruction unit 12 Storage unit 12a Judgment information 21 Switch unit 21a Operation mode changeover switch 22 Sensor unit 100 In-vehicle system C Vehicle D Driver

Claims (3)

It is a driving support device that assists the driving of a vehicle provided so as to switch the automatic driving to manual driving when an operation related to driving is started by the driver during automatic driving.
An acquisition unit that acquires the driver's status,
Wherein when the operation is a state of the driver obtained when it is started is non awake state, the determination as to disable switching to the manual operation, the driver during the invalid state When the driver changes to the awake state, the invalidation is continued at least for a period until the operation is canceled by the driver, and after the operation is released, the driver's state is newly changed to the awake state. A driving support device including a determination unit that determines to permit switching from the automatic operation to the manual operation when the operation is started. The determination unit
The driving support device according to claim 1, wherein a warning to the driver is determined to be emitted from a voice unit of the vehicle during the period. It is a driving support method for supporting the driving of a vehicle provided so as to switch the automatic driving to manual driving when an operation related to driving is started by the driver during automatic driving.
The acquisition process for acquiring the driver's condition and
Wherein when the operation is a state of the driver obtained when it is started is non awake state, the determination as to disable switching to the manual operation, the driver during the invalid state When the driver changes to the awake state, the invalidation is continued at least for a period until the operation is released by the driver, and after the operation is released, the driver's state is newly changed to the awake state. A driving support method comprising a determination step of determining that switching from the automatic operation to the manual operation is permitted when the operation is started.

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